Imaging control apparatus and imaging control method

ABSTRACT

Provided imaging control apparatus effectively avoid image capturing competition in a scene in which a large number of infrared cameras capture images. The imaging control apparatus includes an image acquisition unit that acquires an infrared image generated by an infrared camera imaging reflected light of emitted infrared rays; and a control unit that controls a setting for the generation of the infrared image on the basis of a control parameter transmitted to another apparatus or received from another apparatus via a communication interface.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation application of U.S. patentapplication Ser. No. 15/540,179, filed Jun. 27, 2017, which is aNational Stage Entry of PCT/JP2015/083254, filed Nov. 26, 2015, andclaims the benefit of priority from prior Japanese Patent Application JP2015-005807, filed Jan. 15, 2015, the entire content of which is herebyincorporated by reference

TECHNICAL FIELD

The present disclosure relates to an imaging control apparatus, animaging control method, and a program.

BACKGROUND ART

In the related art, images captured by infrared cameras have been usedfor drive assist and other purposes. In particular, relatively clearimages can be obtained by using near infrared rays or short wavelengthinfrared rays to capture images even under poor conditions such as atnight or during bad weather. In general, images of near infrared rays orshort wavelength infrared rays are captured by receiving reflected lightfrom infrared rays emitted from a camera (see Patent Literature 1, forexample).

CITATION LIST Patent Literature

-   Patent Literature 1: JP 2009-130709A

DISCLOSURE OF INVENTION Technical Problem

However, infrared rays emitted from a certain camera may become adisturbance for images captured by other cameras and lead to adegradation in image quality in a scene in which a plurality of infraredcameras simultaneously capture images. Patent Literature 1 has proposeda technology for restricting polarization directions of infrared raysemitted from individual cameras in predetermined specific directions andreceiving only reflected light in the polarization directions in orderto avoid such image capturing competition. However, only the competitionbetween two to three infrared cameras can be avoided just by restrictingthe polarization directions in practice.

Thus, an object of the technology according to the present disclosure isto realize a mechanism for effectively avoiding image capturingcompetition in a scene in which a large number of infrared camerascapture images.

Solution to Problem

According to the present disclosure, there is provided an imagingcontrol apparatus including: an image acquisition unit that acquires aninfrared image generated by an infrared camera imaging reflected lightof emitted infrared rays; and a control unit that controls a setting forthe generation of the infrared image on the basis of a control parametertransmitted to another apparatus or received from another apparatus viaa communication interface.

Further, according to the present disclosure, there is provided animaging control method including: acquiring an infrared image that isgenerated by an infrared camera imaging reflected light of emittedinfrared rays; and controlling a setting for the generation of theinfrared image on the basis of a control parameter transmitted toanother apparatus or received from another apparatus via a communicationinterface.

Further, according to the present disclosure, there is provided aprogram that causes a computer to function as: an image acquisition unitthat acquires an infrared image generated by an infrared camera imagingreflected light of emitted infrared rays; and a control unit thatcontrols a setting for the generation of the infrared image on the basisof a control parameter transmitted to another apparatus or received fromanother apparatus via a communication interface.

Advantageous Effects of Invention

According to the technology of the present disclosure, it is possible toeffectively avoid image capturing competition in a scene in which alarge number of infrared cameras capture images.

Note that the effects described above are not necessarily limitative.With or in the place of the above effects, there may be achieved any oneof the effects described in this specification or other effects that maybe grasped from this specification.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an explanatory diagram illustrating various purposes ofinfrared images that depend on wavelengths.

FIG. 2 is an explanatory diagram illustrating a situation in which imagecapturing competition occurs.

FIG. 3 is a block diagram showing an example of a hardware configurationof an imaging control apparatus according to a first embodiment.

FIG. 4 is an explanatory diagram illustrating an example of aconfiguration of a theoretical function of the imaging control apparatusaccording to the first embodiment.

FIG. 5A is a first explanatory diagram illustrating an irradiationwavelength band and a target wavelength.

FIG. 5B is a second explanatory diagram illustrating an irradiationwavelength band and a target wavelength.

FIG. 6A is an explanatory diagram illustrating wavelength separationtype control.

FIG. 6B is an explanatory diagram illustrating time separation typecontrol.

FIG. 6C is an explanatory diagram illustrating a combination of thewavelength separation type control and the time separation type control.

FIG. 6D is an explanatory diagram illustrating space separation typecontrol.

FIG. 7 is an explanatory diagram illustrating an example of a selectionof a neighboring apparatus on the basis of relative positionalrelationships.

FIG. 8 is a flowchart showing an example of a flow of imaging controlprocessing according to the first embodiment.

FIG. 9A is a flowchart illustrating a first example of a flow of asetting selection processing shown in FIG. 8.

FIG. 9B is a flowchart illustrating a second example of a flow of asetting selection processing shown in FIG. 8.

FIG. 9C is a flowchart illustrating a third example of a flow of asetting selection processing shown in FIG. 8.

FIG. 10 is an explanatory diagram illustrating an example of afunctional configuration of an imaging control system according to asecond embodiment.

FIG. 11 is a flowchart showing an example of a flow of imaging controlprocessing on an apparatus side according to the second embodiment.

FIG. 12A is a flowchart showing a first example of a flow of imagingcontrol processing on a server side according to the second embodiment.

FIG. 12B is a flowchart showing a second example of a flow of imagingcontrol processing on a server side according to the second embodiment.

MODE(S) FOR CARRYING OUT THE INVENTION

Hereinafter, (a) preferred embodiment(s) of the present disclosure willbe described in detail with reference to the appended drawings. In thisspecification and the appended drawings, structural elements that havesubstantially the same function and structure are denoted with the samereference numerals, and repeated explanation of these structuralelements is omitted.

The description will be given in the following order.

1. Introduction 2. First Embodiment

2-1. Hardware configuration2-2. Functional configuration2-3. Flow of processing

3. Second Embodiment

3-1. System configuration3-2. Functions on apparatus side3-3. Functions on server side3-4. Flow of processing3-5. Application examples

4. Conclusion 1. INTRODUCTION

FIG. 1 is an explanatory diagram illustrating various purposes ofinfrared (IR) images depending on wavelengths. The horizontal directionin FIG. 1 corresponds to a wavelength of an infrared ray, and thewavelength increases from the left side to the right side. A light beamwith a wavelength of equal to or less than 0.7 μm is a visible lightbeam, and human vision senses this visible light beam. An infrared raywith a wavelength within a range from 0.7 μm to 1.0 μm is classifiedinto a near infrared ray (NIR). The near infrared ray can be used fornight vision, fluoroscopy, optical communication, and ranging. Aninfrared ray with a wavelength within a range from 1.0 μm to 2.5 μm isclassified into a short wavelength infrared ray (SWIR). The shortwavelength infrared ray can also be used for night vision andfluoroscopy. A night vision device that uses a near infrared ray or ashort wavelength infrared ray emits an infrared ray to the vicinityfirst, and receives reflected light thereof, thereby obtaining aninfrared image. An infrared ray with a wavelength within a range from2.5 μm to 4.0 μm is classified into a middle wavelength infrared ray(MWIR). Since an absorption spectrum unique to a substance appearswithin the wavelength range of the middle wavelength infrared ray, themiddle wavelength infrared ray can be used for identifying substances.The middle wavelength infrared ray can also be used for thermography. Aninfrared ray with a wavelength of equal to or greater than 4.0 μm isclassified into a far infrared ray (FIR). The far infrared ray can beused for night vision, thermography, and heating. An infrared rayemitted by black-body radiation from a substance corresponds to the farinfrared ray. Therefore, a night vision device that uses a far infraredray can obtain an infrared image by capturing black-body radiation froma substance without emitting an infrared ray. The boundary values of theranges of the wavelengths illustrated in FIG. 1 are only examples. Thereare various definitions for boundary values of classifying the infraredrays, and advantages of the technology according to the presentdisclosure, which will be described later, can be achieved under anydefinitions.

NIR and SWIR from among the various types of infrared rays exemplifiedin FIG. 1, in particular, are used for obtaining clear images under poorconditions such as at night or during a bad weather. One ofrepresentative purposes is vehicle equipment, and an NIR or SWIR imageprovide a supplemental view such as a night view, a back view, or asurrounding view to a driver. The NIR or SWIR image can also be used forrecognizing a subject that can include objects such as pedestrians, roadsigns, or obstacles and presenting drive assist information to thedriver. In general, an infrared camera that captures the NIR or SWIRimage emits an infrared ray to the vicinity at the time of imaging asdescribed above.

However, in a scene in which a plurality of infrared cameras capturesimages at the same time, an infrared ray emitted from a certain cameramay be disturbance for images captured by the other cameras. When twofacing vehicles capture infrared images with the same target wavelengthat the same time, for example, there is a risk that light emitted fromthe counterpart vehicle is strongly captured in the captured image andit becomes difficult to distinguish surrounding objects to be originallycaptured in the image. Patent Literature 1 has proposed a technology forrestricting polarization directions of infrared rays emitted fromindividual infrared cameras in predetermined specific directions andreceiving only reflected light in the polarization directions in orderto avoid such image capturing competition. If, for example, bothpolarization directions of infrared rays emitted forward from two facingvehicles are set to be 45° in an obliquely right direction (from therespective points of view), the polarization direction of the emittedlight is seen to be 45° in an obliquely left direction from the point ofview of the counterpart vehicle, that is, the polarization directions ofthe light emitted from the two vehicles perpendicularly intersect eachother. Therefore, it is possible to eliminate influences of adisturbance caused by the light emitted from the counterpart vehicle bycapturing images while allowing only infrared rays in a desiredpolarization direction (45° in the obliquely right direction in theabove example) to pass through an optical filter. However, such a methodcan avoid only competition between two to three infrared cameras. Alarge number of vehicles are present on roads in practice, and imagecapturing competition can occur between the vehicles.

FIG. 2 is an explanatory diagram illustrating a situation in which imagecapturing competition occurs during use of an in-vehicle apparatus. FIG.2 shows one road extending in a north-south direction and two roadsextending in an east-west direction, and a vehicle 10 a is present onthe road in the north-south direction. The vehicle 10 a emits infraredrays at an angle of view 12 a, and an infrared camera images reflectedlight thereof. A large number of neighboring vehicles are present in thevicinity of the vehicle 10 a, and among the vehicles, all of vehicles 10b, 10 c, and 10 d emit irradiation rays that reach the angle of view 12a of the vehicle 10 a. Although imaging of infrared images by thevehicles 10 a, 10 b, 10 c, and 10 d compete with each other, suchimaging by a large number of apparatuses cannot appropriately beseparated by restricting the polarization directions of infrared rays.Thus, the specification will propose a mechanism for effectivelyavoiding image capturing competition in a scene in which a large numberof infrared cameras capture images.

2. FIRST EMBODIMENT

In this section, an imaging control apparatus 100 which is an in-vehicleapparatus in one example will be described. Although the imaging controlapparatus 100 partially has a configuration specialized for installationin a vehicle, a purpose of the technology according to the presentdisclosure is not limited to such an example. The technology accordingto the present disclosure can be applied not only to imaging by anin-vehicle apparatus but also to capturing infrared images by anapparatus such as a smart phone, a mobile game machine, a digitalcamera, a monitoring camera, or a broadcasting camera.

2-1. Hardware Configuration

FIG. 3 is a block diagram showing an example of a hardware configurationof the imaging control apparatus 100 according to a first embodiment.Referring to FIG. 3, the imaging control apparatus 100 is provided witha camera module 101, a sensor module 105, an input interface 106, amemory 108, a display 110, a communication interface 112, a vehiclenetwork (NW) interface 113, a storage 114, a bus 116, and a processor118.

(1) Camera Module

The camera module 101 is a module that images an object in an NIR regionor an SWIR region. The camera module 101 has a light emitter 102 thatemits infrared rays with wavelengths that belong to a certainirradiation wavelength band in an angle of view direction, and animaging element array 103 that senses an infrared ray with a targetwavelength (classified into a near-infrared ray or a short wavelengthinfrared ray). The camera module 101 may further have an optical filter104 that is arranged in front of the imaging element array 103 andblocks light with a wavelength outside a passband. In an example whichwill be described later, the optical filter 104 is a variable filterthat has a variably controlled passband. The camera module 101 generatesan infrared image by emitting infrared rays from the light emitter 102periodically or in response to a trigger such as a user input, andcapturing the infrared rays reflected by an object or a backgroundthereof. A series of infrared images generated by the camera module 101can form a moving image. The camera module 101 may further have animaging element array for capturing a visible light image.

(2) Sensor Module

The sensor module 105 is a module that has a sensor group that caninclude a position measurement sensor, an acceleration sensor, and adepth sensor. The position measurement sensor measures a currentposition of the camera module 101 (or a current position of a vehicle inwhich the imaging control apparatus 100 is installed) on the basis of,for example, a GPS signal from a global positioning system (GPS)satellite or a wireless signal from a wireless access point. Theacceleration sensor measures three-axis acceleration applied to thecamera module 101 (or the vehicle). The depth sensor measures a distance(that is, a depth) to an object that is present in the angle of view ofthe camera module 101. Sensor data generated by the sensor module 105can be utilized to control imaging, which will be described later.

(3) Input Interface

The input interface 106 is used by a user to operate the imaging controlapparatus 100 or input information to the imaging control apparatus 100.For example, the input interface 106 may include an input device such asa touch sensor, a key pad, a button, or a switch. The input interface106 may include a microphone for inputting sound and a sound recognitionmodule. The input interface 106 may include a remote control module forreceiving a command selected by the user from a remote device.

(4) Memory

The memory 108 is a storage medium that can include a random accessmemory (RAM) and a read only memory (ROM). The memory 108 is coupled tothe processor 118 and stores a program and data for processing to beexecuted by the processor 118.

(5) Display

The display 110 is a display module that has a screen for displaying animage. For example, the display 110 may be a liquid crystal display(LCD), an organic light-emitting diode (OLED), or a cathode ray tube(CRT).

(6) Communication Interface

The communication interface 112 is a module that relays communicationbetween the imaging control apparatus 100 and other apparatuses. Thecommunication interface 112 establishes a communication connection inaccordance with an arbitrary wireless communication protocol.

(7) Vehicle NW Interface

The vehicle NW interface 113 is a module that relays communication witha vehicle network of the vehicle in which the imaging control apparatus100 is installed. For example, the vehicle NW interface 113 is connectedto the vehicle network via a terminal, which is not illustrated andacquires data generated on the vehicle side, such as vehicle speed dataand steering angle data.

(8) Storage

The storage 114 is a storage device that accumulates image data andstores a database that is utilized to control processing to be executedby the imaging control apparatus 100. The storage 114 has a built-instorage medium such as a semiconductor memory or a hard disk. Theprogram and the data described in the specification may be acquired froma data source (for example, a data server, a network storage, or anexternal memory) outside the imaging control apparatus 100.

(9) Bus

The bus 116 connects the camera module 101, the sensor module 105, theinput interface 106, the memory 108, the display 110, the communicationinterface 112, the vehicle NW interface 113, the storage 114, and theprocessor 118 with each other.

(10) Processor

The processor 118 is a processing module such as a central processingunit (CPU) or a digital signal processor (DSP). The processor 118 causesfunctions for avoiding image capturing competition with otherapparatuses located in the vicinity thereof, which will be describedlater, to operate by executing the program stored in the memory 108 oranother storage medium.

2-2. Functional Configuration

FIG. 4 is an explanatory diagram illustrating an example of aconfiguration of theoretical functions realized by the components of theimaging control apparatus 100 shown in FIG. 3 working in conjunctionwith each other. FIG. 4 shows two imaging control apparatuses 100, andthese imaging control apparatuses 100 communicate with each other viathe communication interfaces 112. Such communication between thein-vehicle apparatuses will be referred to as inter-vehiclecommunication or vehicle-to-vehicle (V2V) communication. Although onlytwo imaging control apparatus 100 are shown in FIG. 4, more apparatusesare involved in V2V communication in practice in the embodiment. Thecommunication between the in-vehicle apparatuses may not necessarily beperformed via a direct communication link between the two in-vehicleapparatuses. For example, a relay apparatus that is set on the road sidemay relay communication signals, or a certain other in-vehicle apparatusmay relay communication signals between the two in-vehicle apparatuses.Each of the imaging control apparatuses 100 is provided with an imageacquisition unit 120, an application unit 130, a setting database (DB)140, and an imaging control unit 150.

(1) Image Acquisition Unit

The image acquisition unit 120 acquires an infrared image that isgenerated by the imaging element array 103 imaging reflected light ofinfrared rays emitted by the light emitter 102 in the camera module 101.Then, the image acquisition unit 120 outputs the acquired image to theapplication unit 130. The image acquisition unit 120 may executepreliminary processing, such as amplification of image signals,demosaicing, noise removal, and separation of wavelength components, onthe infrared image.

FIGS. 5A and 5B are explanatory diagrams illustrating an irradiationwavelength band and a target wavelength related to an infrared imageacquired by the image acquisition unit 120. In FIGS. 5A and 5B, thehorizontal axis represents wavelengths of infrared rays, and thevertical axis represents sensitivity of an imaging element. The dottedline graph represents a wavelength that can be selected by the cameramodule 101. According to the example shown herein, the camera module 101can emit infrared rays with an arbitrary combination of nine wavelengthsr1 to r9 and image reflected light of the emitted infrared rays. In thefirst example shown in FIG. 5A, the camera module 101 emits infraredrays in an irradiation wavelength band H₁ centered at the wavelength r2,which is shown by a thick solid line, and captures an image with animaging element array that has a sensitivity peak at the wavelength r2.In this case, the target wavelength is the wavelength r2, and theinfrared rays with wavelengths other than the target wavelength can beblocked by the optical filter in the camera module 101. In the secondexample shown in FIG. 5B, the camera module 101 emits infrared rays in acomposite irradiation wavelength band H₂ that includes the wavelengthsr2, r3, and r4, which are shown by the thick solid line, and captures animage with a plurality of imaging element arrays that have sensitivitypeaks at the wavelengths r2, r3, and r4, respectively. Then, the imageacquisition unit 120 performs signal processing (typically, a filteroperation for separating mixed colors) for separating components withthe wavelength r2 from original images captured at the wavelengths r2,r3, and r4, respectively and generates an infrared image with thewavelength r2. Although the target wavelength is also the wavelength r2in this case, the infrared rays with the wavelengths r3 and r4 are notblocked by the optical filter, and components thereof are removed fromthe infrared image by the aforementioned signal processing. In theembodiment, such setting of the irradiation wavelength band of theinfrared rays and the target wavelength of the infrared image iscontrolled by the imaging control unit 150, which will be describedlater. In addition, imaging timing of the infrared image and irradiationintensity of the infrared rays can be controlled by the imaging controlunit 150.

(2) Application Unit

The application unit 130 executes an application function using aninfrared image input from the image acquisition unit 120. For example,the application function executed by the application unit 130 may be adrive assist function such as an advanced driver assistance system(ADAS). In such a case, the application unit 130 can detect a pedestrianor an object (such as another vehicle) and issue a collision alert, orpresent parking assist information to a user on a screen on the basis ofthe infrared image input from the image acquisition unit 120. Theapplication unit 130 may display the input infrared image on the screenof the display 110 without any change or may store the infrared image inthe storage 114 after compression coding or without compression.

(3) Setting DB

The setting DB 140 is a database that stores various kinds of data to beutilized by the imaging control unit 150 to control a setting related tothe imaging. The data stored in the setting DB 140 can include settingcandidate information indicating setting candidates (also referred to ascapabilities) that can be selected by the camera module 101 and currentsetting information indicating setting content of the camera module 101at the time. Furthermore, the setting DB 140 can store neighboringapparatus information that is acquired through information exchange withneighboring apparatuses via the communication interface 112. Theneighboring apparatus information can include, for example, anidentifier of each of the neighboring apparatuses, setting candidateinformation, current setting information, position information, andspeed information.

(4) Imaging Control Unit

The imaging control unit 150 controls a setting for generating aninfrared image on the basis of the control parameter transmitted toanother apparatus or received from another apparatus via thecommunication interface 112 in order to avoid image capturingcompetition between a plurality of apparatuses. In the embodiment,another apparatus may be another imaging control apparatus 100 that ispresent in the vicinity of the camera module 101 (referred to as aneighboring apparatus in the following description). The controlperformed by the imaging control unit 150 includes wavelength separationtype control or time separation type control. In the wavelengthseparation type control, the irradiation wavelength band of the infraredrays and the target wavelength of the infrared image are controlled bythe imaging control unit 150. In the time separation type control,imaging timing of the infrared image is controlled by the imagingcontrol unit 150. A combination of the wavelength separation typecontrol and the time separation type control is also possible.Furthermore, the imaging control unit 150 can also control irradiationintensity of the infrared rays.

In one example, an irradiation wavelength band H_(neighbor) selected bya neighboring apparatus is indicated by a control parameter receivedfrom the neighboring apparatus. Meanwhile, the image acquisition unit120 acquires the infrared image generated with a target wavelengthr_(local). The target wavelength r_(local) belongs to an irradiationwavelength band H_(local). In the wavelength separation type control,the imaging control unit 150 then selects the target wavelengthr_(local) for the imaging by the own apparatus so that an influence ofemitted light in the irradiation wavelength band H_(neighbor) on theinfrared image acquired by the image acquisition unit 120 is reduced.Typically, the selected target wavelength r_(local) is a wavelength thatis not included in the irradiation wavelength band H_(neighbor).Furthermore, the control parameter received from the neighboringapparatus can also indicate the target wavelength r_(neighbor) for aninfrared image generated by the neighboring apparatus. Then, the imagingcontrol unit 150 selects the irradiation wavelength band H_(local) forthe imaging by the own apparatus such that an influence of theirradiation wavelength band H_(local) on the infrared image generated bythe neighboring apparatus is reduced. Typically, the selectedirradiation wavelength band H_(local) is a wavelength band that does notinclude the target wavelength r_(neighbor).

The imaging control unit 150 sets the selected irradiation wavelengthband H_(local) and the target wavelength r_(local) in the camera module101. If an infrared image is generated by imaging infrared rays thathave passed through a variable filter, the imaging control unit 150 setsthe variable filter such that a passband includes the selected targetwavelength r_(local). Alternatively or additionally, if the infraredimage is generated by extracting components with the target wavelengthfrom original images output from the camera module 101, the imagingcontrol unit 150 sets the image acquisition unit 120 such thatcomponents with the selected target wavelength r_(local) are extractedfrom the original images. The imaging control unit 150 transmits thecontrol parameters that indicate the irradiation wavelength bandH_(local) and the target wavelength r_(local) selected by the imagingcontrol unit 150 itself to the neighboring apparatus.

FIG. 6A is an explanatory diagram illustrating the wavelength separationtype control. Referring to FIG. 6A, four vehicles V11, V12, V13, and V14that are located near each other are shown, and image capturingcompetition among these vehicles is avoided by the wavelength separationtype control. For example, an infrared camera in the vehicle V11 emitsinfrared rays including the wavelengths r1 and r2 and generates aninfrared image with the target wavelength r2. An infrared camera in thevehicle V12 emits infrared rays including the wavelengths r4 and r5 andgenerates an infrared image with the target wavelength r4. An infraredcamera in the vehicle V13 emits infrared rays including the wavelengthsr8 and r9 and generates an infrared image with the target wavelength r8.An infrared camera in the vehicle V14 emits infrared rays including thewavelengths r6 and r7 and generates an infrared image with the targetwavelength r6. It is possible to avoid light emitted from a certainapparatus acting as a disturbance for images captured by the otherapparatuses by selecting different irradiation wavelength bands andtarget wavelengths among the neighboring apparatuses in this manner.

In another example, imaging timing T_(neighbor) selected by aneighboring apparatus is indicated by a control parameter received fromthe neighboring apparatus. Meanwhile, the image acquisition unit 120acquires an infrared image generated by imaging reflected light ofinfrared rays emitted at imaging timing T_(local). The imaging timingcan be represented, for example, by a time offset from a predeterminedtime reference and a cycle (or a number applied to a time slot). In thetime separation type control, the imaging control unit 150 then selectsthe imaging timing T_(local) such that the imaging timing T_(local) doesnot interfere with the imaging timing T_(neighbor) and sets the selectedimaging timing T_(local) in the camera module 101. The imaging controlunit 150 transmits a control parameter indicating the imaging timingT_(local) that has been selected by the imaging control unit 150 itselfto the neighboring apparatus.

FIG. 6B is an explanatory diagram illustrating the time separation typecontrol. Referring to FIG. 6B, four vehicles V21, V22, V23, and V24 thatare located near each other are shown, and image capturing competitionamong these vehicles is avoided by the time separation type control. Forexample, an infrared camera in the vehicle V21 generates an infraredimage with the target wavelength r1 in a time slot TS01. An infraredcamera in the vehicle V22 generates an infrared image with the targetwavelength r1 in a time slot TS02 that follows the time slot TS01. Aninfrared camera in the vehicle V23 generates an infrared image with thetarget wavelength r1 in a time slot TS03 that follows the time slotTS02. An infrared camera in the vehicle V24 generates an infrared imagewith the target wavelength r1 in a time slot TS04 that follows the timeslot TS03. It is possible to prevent light emitted from a certainapparatus from acting as a disturbance for images captured by the otherapparatuses even if the common target wavelength is used by capturingimages at different timings among the neighboring apparatuses in thismanner. In addition, a degree of separation (how many apparatusescapture images with the same wavelength at separate timing withoutcompeting) that can be achieved by the time separation type control isin a tradeoff relationship with a movie frame rate and depends on a timesynchronization performance among the apparatuses. The timesynchronization among the apparatuses may be performed by anysynchronization method using an existing communication protocol.

FIG. 6C is an explanatory diagram illustrating a combination of thewavelength separation type control and the time separation type control.In the example of FIG. 6C, image capturing competition among fourvehicles V31, V32, V33 and V34 is avoided. For example, an infraredcamera in the vehicle V31 and an infrared camera in the vehicle V32respectively generate infrared images with the target wavelength r1 andthe target wavelength r3 in a time slot TS11. An infrared camera in thevehicle V33 and an infrared camera in the vehicle V34 respectivelygenerate infrared images with the target wavelength r2 and the targetwavelength r4, in a time slot TS12 that follows the time slot TS11. Theinfrared camera in the vehicle V31 and the infrared camera in thevehicle V32 respectively generate infrared images again with the targetwavelength r1 and the target wavelength r3 in a time slot TS13 thatfollows the time slot TS12. If the apparatuses capture images indifferent combinations of wavelengths and imaging timings as describedabove, the number of apparatuses for which separation can be performedachieves a product of the number of wavelength candidates that can beselected and the number of imaging timing candidates. An NIR region andan SWIR region can be separated into a number of target wavelengthcandidates much larger than 10, although it depends on restrictions suchas a required performance and apparatus manufacturing cost. Thus, on theassumption that a degree of separation in a wavelength direction is 10(maximum of ten apparatuses can simultaneously capture images with nocompetition) and a degree of separation in a time direction is 2, forexample, a degree of separation of 20 (=10×2) is achieved by combiningthe wavelength separation type control and the time separation typecontrol.

FIG. 6D is an explanatory diagram illustrating the space separation typecontrol. In the space separation type control, position data and speeddata of a neighboring apparatus are represented by control parametersreceived from the neighboring apparatus. The position and the speed ofthe apparatus itself are measured by the sensor module 105 or areindicated by data acquired via the vehicle NW interface 113. Then, theimaging control unit 150 selects irradiation intensity of the infraredrays in the camera module 101 so that an influence of an emission ofinfrared rays from the camera module 101 on an infrared image generatedby the neighboring apparatus is reduced. For example, initialirradiation intensity of infrared rays of a vehicle 10 d is set to sucha level that the emitted light reaches a vehicle 10 b in the example ofFIG. 6D. Both a target wavelength set for an infrared camera in thevehicle 10 d and a target wavelength set for an infrared camera in thevehicle 10 b are the wavelength r1. The imaging control apparatus 100 inthe vehicle 10 d determines that there is a possibility that theemission of the infrared rays from the imaging control apparatus 100itself may have a significantly adverse effect on the vehicle 10 b insuch a situation on the basis of position data and speed data of both ofthe apparatuses and reduces the irradiation intensity of the infraredrays from the vehicle 10 d (see the arrow in the drawing). As a result,the influence of the emitted light of the infrared rays from the vehicle10 d on the infrared image captured by the vehicle 10 b is reduced.

In addition to the separation of the apparatuses in one or morecategories among the aforementioned wavelength, a time, and a space, theimaging control unit 150 may employ separation depending on polarizationdirections. In such a case, the imaging control unit 150 can determine apolarization direction selected by the neighboring apparatus from thecontrol parameter received from the neighboring apparatus, select apolarization direction that does not overlap with the determinedpolarization direction of the neighboring apparatus, and set theselected polarization direction in the camera module 101. The imagingcontrol unit 150 may transmit the control parameter indicating thepolarization direction selected by the imaging control unit 150 itselfto the neighboring apparatus. On the assumption that, for example, thedegree of separation in the wavelength direction is 10, the degree ofseparation in the time direction is 2, and two more polarizationdirections can be selected, a degree of separation of 40 (=10×2×2) isachieved by combining these three categories.

The above description was given from the viewpoint of from whichcategory apparatuses can be separated from each other in order to avoidcompetition of capturing infrared images by the plurality of apparatusesin relation to the function of the imaging control unit 150. Next, adescription will be given from the viewpoint of which an apparatus haspriority in establishing a setting.

According to the basic idea of the embodiment, the imaging control unit150 selects a setting that is at least partially different from thesetting of a neighboring apparatus for generating an infrared image tobe acquired by the image acquisition unit 120 if a setting of aninfrared image generated by a neighboring apparatus with higher settingpriority than that of the own apparatus is specified by a controlparameter received via the communication interface 112. The imagingcontrol unit 150 transmits the control parameter for specifying thesetting of the own apparatus via the communication interface 112 inorder to cause a neighboring apparatus with lower setting priority thanthat of the own apparatus to use a setting that is at least partiallydifferent from the setting for the infrared image to be acquired by theimage acquisition unit 120.

In one example, the imaging control unit 150 may determine the settingpriority on the basis of degrees of freedom in setting the individualapparatuses. The degrees of freedom in setting are specified by settingcandidate information exchanged among the apparatuses. Typically, lowersetting priority is given to an apparatus with a higher degree offreedom in setting since the apparatus with the higher degree of freedomin setting has more room for selecting different settings while avoidinga setting selected by the other apparatuses. Here, the degree of freedomin setting corresponds to the number of setting candidates that can beselected by a certain apparatus to generate an infrared image. Referringagain to FIG. 5A, for example, since the vehicle V11 can select ninetarget wavelengths, the degree of freedom in setting for the vehicle V11is equal to nine in the wavelength separation type control. Similarly,the degrees of freedom in setting for the vehicles V12, V13, and V14 arerespectively equal to three, nine, and five. Therefore, the highestsetting propriety is given to the vehicle V12, and the second highestsetting priority is given to the vehicle V14 in the example of FIG. 5A.Since the vehicles V11 and V13 have the same degree of freedom insetting, the setting priority for these vehicles can be adjusted so thatthere is a difference therebetween on the basis of criteria other thanthe degrees of freedom in setting. The criteria other than the degreesof freedom in setting may include a setting change risk, for example, aswill be described later. Also, priority may be placed on an apparatusthat first declares selection of a specific setting (first-comefirst-served basis). Also, a setting priority may be adjusted on thebasis of a positional relationship between apparatuses such as trafficlanes, traveling directions, or front/back positions.

In another example, the imaging control unit 150 may determine thesetting priority on the basis of setting change risks that depend onmoving speeds or positions of individual apparatuses. In general, achange in a target wavelength or an imaging timing can be a factor of arisk that leads to temporal turbulence in an infrared image. Therefore,changing a setting of a target wavelength or an imaging timing in anapparatus often is not desirable in a situation in which travelingsafety of a vehicle is more emphasized. Thus, for example, the imagingcontrol unit 150 evaluates a setting change risk of an apparatus thatmoves at a higher moving speed or an apparatus that is located closer toa location with a high accident occurrence rate (for example, anintersection or a curve) to be high, and gives a higher setting priorityto the apparatus with the higher setting change risk. A moving speed ofthe apparatus may be a speed that is measured at a single point of timeor may be an average value of speeds measured at a plurality of times. Asetting priority of apparatuses with the same setting change risk can beadjusted on the basis of criteria other than the setting change risk(for example, the aforementioned degrees of freedom in setting, trafficlanes, or traveling directions; first-come first-served basis may beemployed).

Regardless what kind of criteria is used to determine the settingpriority, the imaging control unit 150 mutually compares a settingpriority in a group of certain apparatuses that are dynamicallyselected. For example, the imaging control unit 150 detects one or moreneighboring apparatuses via the communication interface 112. Thedetection of the neighboring apparatuses may be performed by someexisting method such as by receiving broadcast signals transmitted fromthe neighboring apparatuses or by receiving response signals in responseto search signals transmitted from the communication interface 112.Next, the imaging control unit 150 selects at least one neighboringapparatus with which competition is to be avoided on the basis of arelative positional relationship between the camera module 101 and thedetected one or more neighboring apparatuses. Then, the imaging controlunit 150 executes the aforementioned wavelength separation type control,the time separation type control, or the combination thereof forgenerating an infrared image so that a setting that is at leastpartially different from that of the at least one selected neighboringapparatus is used.

FIG. 7 is an explanatory diagram for illustrating an example of aselection of a neighboring apparatus on the basis of a relativepositional relationship. Referring to FIG. 7, two concentric circlescentered at a current position of a vehicle 10 a are shown, and theinner circle is sectioned into four sections 31, 32, 33, and 34, and aring-shaped portion between the inner circle and the outer circle issectioned into four sections 35, 36, 37, and 38. Numerical values from 1to 6 applied to the sections in the drawing represent an order ofselection. For example, the sections in the drawing are arranged in theorder of selection as follows: the section 31 (the order ofselection=“1”), the section 35 (the order of selection=“2”), thesections 32 and 33 (the order of selection=“3”), the sections 36 and 37(the order of selection=“4”), the section 34 (the order ofselection=“5”), and the section 38 (the order of selection=“6”). As canbe understood from this example, a higher order of selection (to beselected with higher priority) is given to a section located closer toan angle of view of the own apparatus according to the basic idea. Then,the imaging control unit 150 repeats the selection of neighboringapparatuses in the order from a neighboring apparatus located in asection with a smaller value as the order of selection until the numberof selected apparatuses exceeds a predefined threshold value. Positionsof the neighboring apparatuses may be positions when positioninformation is exchanged or may be future positions that are expected byalso taking speed information into consideration. The threshold valuemay be fixedly defined. Alternatively, the threshold value may bedynamically set depending on locations (for example, the threshold valuebecomes greater at intersections), degrees of congestion (the thresholdvalue becomes greater at a time of congestion), or degrees of freedom insetting of the apparatuses. It is possible to include a neighboringapparatus that is present at a location with a high possibility thatlight emitted therefrom contributes as a disturbance as a target ofcompetition avoidance with priority, by selecting neighboringapparatuses as targets of the competition avoidance on the basis of suchpositional relationships.

Note that the definitions of the sections and the order of selectionshown in FIG. 7 are only examples, and different definitions of sectionsand orders of selection may be used. For example, although it is assumedthat the infrared camera of in the vehicle 10 a is directed to the frontside in FIG. 7, the highest order of selection can be given to a sectionin a side surface direction for a side view camera, and the highestorder of selection can be given to a section on the rear side for a rearview camera. The imaging control unit 150 may determine the order ofselection in consideration of directions of the neighboring apparatusesin addition to the positions of the neighboring apparatuses.Specifically, the order of selection “1” can be given to an apparatusthat faces the vehicle 10 a, and the order of selection “5” can be givento an apparatus that faces in the same direction as the vehicle 10 aamong neighboring apparatuses located in the section 31 in the exampleof FIG. 7. Similarly, the order of selection “2” can be given to anapparatus that faces the vehicle 10 a, and the order of selection “6”can be given to an apparatus that faces the same direction as thevehicle 10 a among neighboring apparatuses located in the section 35.

2-3. Flow of Processing (1) Imaging Control Processing

FIG. 8 is a flowchart illustrating an example of a flow of imagingcontrol processing according to the first embodiment.

First, the imaging control unit 150 detects one or more neighboringapparatuses via the communication interface 112 (Step S100). Thedetection of the neighboring apparatuses is periodically performed, anda cycle thereof may be the same as or different from a movie framecycle.

Next, the imaging control unit 150 determines whether or not to updatean imaging setting (Step S110). For example, the imaging control unit150 can determine to update the imaging setting by using an arbitrarycondition, such as detection of a new neighboring apparatus, receptionof an updating request from a neighboring apparatuses, elapse of apredefined period form previous updating, or temporal degradation inimage quality of the infrared image, as a trigger. If updating theimaging setting is not determined, processing in Steps S115 to S150,which will be described later, is skipped.

If updating the imaging setting is determined, the imaging control unit150 selects at least one neighboring apparatus with which competition isto be avoided on the basis of relative positional relationships betweenthe camera module 101 and the neighboring apparatuses (Step S115).Typically, a plurality of neighboring apparatuses are selected here astargets of competition avoidance.

Next, the imaging control unit 150 selects a setting in relation toimaging that is at least partially different from a setting used by theneighboring apparatuses selected as the targets of the competitionavoidance by executing setting selection processing, which will bedescribed later (Step S120). The setting in relation to the imagingdescribed herein includes one or more of irradiation wavelength bands ofinfrared rays, target wavelengths of infrared images, imaging timing ofthe infrared images, and irradiation intensity of the infrared rays.

Next, the imaging control unit 150 reflects the setting selected as aresult of the setting selection processing to the own apparatus (StepS150). For example, the imaging control unit 150 can set a selectedirradiation wavelength band and irradiation intensity for the lightemitter 102 of the camera module 101. The imaging control unit 150 canset a selected target wavelength for the optical filter 104 of thecamera module 101 and the image acquisition unit 120. The imagingcontrol unit 150 can set a selected imaging timing for the camera module101.

Next, the imaging control unit 150 determines whether the imaging timinghas been reached (Step S155). If the imaging timing has been reached,the light emitter 102 of the camera module 101 emits infrared rays inthe set irradiation wavelength band (Step S160) and the imaging elementarray 103 captures an original image (Step S170). Here, the opticalfilter 104 of the camera module 101 can filter infrared rays that areincident on the imaging element array 103 so that only infrared rays inthe set target wavelength pass therethrough.

Next, the image acquisition unit 120 acquires an infrared image with theset target wavelength through preliminary processing, such asamplification of image signals, demosaicing, noise removal, andseparation of wavelength components, as needed (Step S180). Then, theimage acquisition unit 120 outputs the acquired infrared image to theapplication unit 130 (Step S190). The infrared image output here isdisplayed by the application unit 130 on a screen and is input to anapplication function such as a drive assist function or is encoded andstored. Thereafter, the flow returns to Step S100, and theaforementioned processing is repeated.

(2-1) Setting Selection Processing-First Example

FIG. 9A is a flowchart showing a first example of a flow of the settingselection processing shown in Step S120 in FIG. 8.

Referring to FIG. 9A, the imaging control unit 150 first exchangessetting candidate information and other information with eachneighboring apparatuses (Step S121). Next, the imaging control unit 150determines a degree of freedom in setting for each of the apparatusesfrom setting candidate information of the own apparatus and theneighboring apparatuses and determines a setting priority for each ofthe apparatuses on the basis of the determined degree of freedom insetting (Step S124). Next, the imaging control unit 150 adjusts thesetting priority for apparatuses with the same degree of freedom insetting by using information other than the setting candidateinformation (S128).

Next, the imaging control unit 150 determines whether a setting of allneighboring apparatuses with higher setting priority than that of theown apparatus has been fixed (Step S131). If neighboring apparatuseswith higher setting priority for which the setting has not been fixedremain, the imaging control unit 150 fixes the setting of theneighboring apparatuses (Step S133). For an apparatus for which only onewavelength of an infrared ray that can be selected remains, for example,the one wavelength can be selected as the target wavelength of theapparatus. The imaging control unit 150 may receive notificationmessages for providing a notification of the imaging setting for theneighboring apparatuses from the neighboring apparatuses or may transmitan indication message that indicates that the apparatus will use aspecific imaging setting to the neighboring apparatuses via thecommunication interface 112. If the setting of all of the neighboringapparatuses with higher setting priority than that of the own apparatusis fixed, the imaging control unit 150 selects an imaging setting thatis at least partially different from the setting for the own apparatus(Step S135). Then, the imaging control unit 150 transmits a notificationmessage for providing a notification of the imaging setting selected forthe own apparatus to the neighboring apparatuses via the communicationinterface 112 (Step S137).

(2-2) Setting Selection Processing-Second Example

FIG. 9B is a flowchart showing a second example of a flow of the settingselection processing shown in Step S120 in FIG. 8.

Referring to FIG. 9B, the imaging control unit 150 first exchangesposition information, speed information, and other information with eachneighboring apparatus (Step S122). Next, the imaging control unit 150determines a setting change risk for each of the apparatuses frompositions and speeds of the own apparatus and the neighboringapparatuses and determines a setting priority for each of theapparatuses on the basis of the determined setting change risk (StepS125). Next, the imaging control unit 150 adjusts a setting priority forapparatuses with the same setting change risk by using criteria otherthan the setting change risk (Step S128).

Subsequent processing in Steps S131 to S137 may be basically the same asthe processing described above with reference to FIG. 9A. If the samesetting as a current setting is not used by apparatuses with a highersetting priority, it is desirable for each of the apparatuses to selectnot to change the current setting in Steps S133 and S135. This makes itpossible to prevent turbulence in an infrared image due to a change inthe setting in advance.

(2-3) Setting Selection Processing-Third Example

FIG. 9C is a flowchart showing a third example of a flow of the settingselection processing shown in Step S120 in FIG. 8.

Referring to FIG. 9C, the imaging control unit 150 first exchangessetting candidate information, position information, speed information,and other information with each neighboring apparatus (Step S123). Next,the imaging control unit 150 determines a degree of freedom in settingfor each of the apparatuses from setting candidate information of theown apparatus and the neighboring apparatuses (Step S126). The imagingcontrol unit 150 determines a setting change risk for each of theapparatuses from positions and speeds of the own apparatus and theneighboring apparatuses (Step S127). Then, the imaging control unit 150determines a setting priority for each of the apparatuses on the basisof degrees of freedom in setting, setting change risks, and othercriteria (Step S129). Since subsequent processing in Steps S131 to S137is the same as the processing described above with reference to FIG. 9A,repetition of the description will be omitted herein.

Note that the setting priority may be determined by using differentcriteria depending on a purpose of the apparatus. For example, dynamicswitching of criteria may be realized, and for example, the settingchange risks are mainly used if the imaging control apparatus 100controls an in-vehicle camera, and the degrees of freedom in setting aremainly used if the imaging control apparatus 100 controls a camera of amobile device such as a smart phone.

3. SECOND EMBODIMENT

In the previous section, an example in which the imaging controlapparatus 100 installed in a certain vehicle performs inter-vehiclecommunication with the imaging control apparatus 100 installed inanother vehicle and image capturing competition is avoided on the basisof the information exchanged therebetween was described as the firstembodiment. In contrast, a management server that unitarily manages asetting in relation to image capturing for generating infrared images bya plurality of apparatuses is introduced in a second embodimentdescribed in this section.

3-1. System Configuration

FIG. 10 is an explanatory diagram illustrating an example of afunctional configuration of an imaging control system according to thesecond embodiment. Referring to FIG. 10, an imaging control system 1includes a plurality of imaging control apparatuses 200, an access point300, and a management server 310. The imaging control apparatuses 200communicate with the management server 310 via communication interfaces112 and the access point 300. The access point 300 may be a relayapparatus installed on the road side. Such communication between thein-vehicle apparatuses and the road side apparatus (and the followingserver) will be referred to as between-road-and-vehicle communication orroadside unit-to-vehicle (R2V) communication. Additionally, the imagingcontrol apparatus 200 may execute inter-vehicle communication with otherimaging control apparatuses 200 via the communication interfaces 112.Although only two imaging control apparatuses 200 are shown in FIG. 10,the imaging control system 1 may include more imaging controlapparatuses 200 in practice in the embodiment.

3-2. Functions on Apparatus Side

A hardware configuration of each of the imaging control apparatuses 200according to the second embodiment may be the same as the hardwareconfiguration of the imaging control apparatus 100 described above withreference to FIG. 3. Each of the imaging control apparatuses 200 isprovided with an image acquisition unit 120, an application unit 130, asetting DB 140, and an imaging control unit 250.

The imaging control unit 250 controls a setting for generation of aninfrared image on the basis of a control parameter transmitted andreceived to and from the management server 310 via the communicationinterface 112. In the embodiment, any of the wavelength separation typecontrol, the time separation type control, and a combination of thewavelength separation type control and the time separation type controldescribed in the previous section may also be performed. However, asetting to be used in each apparatus is determined by the managementserver 310. Then, the imaging control unit 250 selects a settingspecified by the control parameter received from the management server310 for generation of an infrared image by the own apparatus.

If the management server 310 that has authority for a geographicalregion in which the own apparatus is positioned is detected, forexample, the imaging control unit 250 transmits a setting requestmessage for requesting an assignment of a setting that does not competewith other apparatuses to the management server 310 via thecommunication interface 112. The setting request message can include,for example, an identifier of the imaging control apparatus 200, settingcandidate information, current setting information, positioninformation, and speed information. The setting candidate informationindicates one or more setting candidates for generation of an infraredimage by the imaging control apparatus 200. If the setting requestmessage is received from the imaging control apparatus 200, themanagement server 310 assigns a setting that does not compete withsetting assigned to neighboring apparatuses positioned in the vicinityof the imaging control apparatus 200 (for example, a setting in which acombination of a target wavelength and imaging timing is at leastpartially different) to the imaging control apparatus 200. The imagingcontrol unit 250 receives a response message or a setting update messagefor specifying the setting assigned to the imaging control apparatus 200from the management server 310 via the communication interface 112.Then, the imaging control unit 250 reflects a setting specified by acontrol parameter included in the received message (one or more ofirradiation wavelength bands of infrared rays, a target wavelength ofthe infrared image, imaging timing of the infrared image, andirradiation intensity of the infrared rays) on the camera module 101 andthe image acquisition unit 120.

3-3. Functions on Server Side

As shown in FIG. 10, the management server 310 is provided with amanagement database (DB) 320 and a control unit 330. The management DB320 stores an identifier of the apparatus, setting candidates that canbe selected, a current setting, a position, and a speed of each of theplurality of imaging control apparatuses 200 being managed by themanagement server 310. The control unit 330 updates the information inthe management DB 320 with the latest information reported from each ofthe imaging control apparatuses 200.

If the aforementioned setting request message is received from theimaging control apparatus 200, the control unit 330 selects all otherapparatuses being managed, other apparatuses in a specific region inwhich the imaging control apparatus 200 is positioned, or a plurality ofneighboring apparatuses selected by the method described above withreference to FIG. 7 as targets of competition avoidance. The controlunit 330 identifies a setting that is currently being used by theselected existing apparatuses with reference to the management DB 320.Then, the control unit 330 assigns a setting that is at least partiallydifferent from the setting that is used by the existing apparatuses fromamong the setting candidates that can be selected by the imaging controlapparatus 200 to the imaging control apparatus 200. In one example inwhich the vehicles V11, V12, V13 and V14 respectively use the targetwavelengths r2, r4, r8, and r6, as shown in FIG. 6A, the control unit330 can assign, for example, the wavelength r3 as the target wavelengthfor a different apparatus that has requested an assignment of a setting.An unused time slot may be assigned instead of an unused wavelength asin the example in FIG. 6B or FIG. 6C.

The control unit 330 may assign a setting that is determined to beunused to a new apparatus without changing settings that are being usedby the existing apparatuses. In such a case, the control unit 330transmits a response message including a control parameter thatspecifies the setting assigned to the imaging control apparatus 200 tothe imaging control apparatus 200 as a response to the setting requestmessage from the imaging control apparatus 200. Instead, the controlunit 330 may execute the setting selection processing described abovewith reference to FIGS. 9A, 9B, and 9C on a group including the existingapparatuses and the new apparatus as a target and select/reselect asetting for each of the apparatuses in order of a setting priority. Insuch a case, the control unit 330 transmits a setting updating messageindicating an update of the setting to existing apparatuses for whichthe setting is to be updated and transmits the aforementioned responsemessage to the new apparatus. The setting request message transmittedfrom the imaging control apparatus 200 may indicate a desired settingthat the imaging control apparatus 200 desires to use. In such a case,the management server 310 can provide a notification of whether or notto permit use of the desired setting, and when the use of the desiredsetting is not permitted, provide a setting that is alternativelyassigned in the response message to the apparatus that has issued therequest.

In an example, the control unit 330 may predefine a setting that can beassigned to a plurality of apparatuses in an overlapped manner (aspecific target wavelength, an imaging timing, or a combination thereof)when not able to completely avoid competition due to a large number ofapparatuses (hereinafter, referred to as a prescribed setting). In theexample, if the control unit 330 determines that image capturingcompetition cannot be avoided completely by the wavelength, time, orspace separation, then the control unit 330 assigns the aforementionedprescribed setting to one or more apparatuses (for example, apparatuseswith a relatively lower setting priority). For example, since assigningno setting to the apparatus (causing the apparatus not to capture image)that has requested the assignment of the setting should be avoided interms of safety for the purpose of a drive assist, it is advantageous topermit use of such a prescribed setting in an overlapped manner. Theprescribed setting may be used by the imaging control apparatus 200 in aperiod until a setting is assigned by the management server 310.

3-4. Flow of Processing (1) Processing on Apparatus Side

FIG. 11 is a flowchart showing an example of a flow of an imagingcontrol processing on the apparatus side according to the secondembodiment.

First, the imaging control unit 250 of the imaging control apparatus 200attempts to establish a connection to the new management server 310periodically or when a connection with a management server that isconnected to been lost (for example, due to a movement to outside amanagement region) (Step S200). Then, if the communication interface 112establishes a connection to the management server 310, the imagingcontrol unit 250 transmits a setting request message that can include anidentifier of the imaging control apparatus 200, setting candidateinformation, current setting information, position information, andspeed information to the management server 310 (Step S205). While theconnection to the management server 310 is maintained or while a settingthat has already been assigned is effective, the processing in StepsS200 and S205 may be skipped.

The imaging control unit 250 waits for reception of a message from themanagement server 310 (Step S240). Then, if the imaging control unit 250receives a response message in response to the setting request messageor the setting updating message from the management server 310, theimaging control unit 250 sets one or more of an irradiation wavelengthband of infrared rays, a target wavelength of an infrared image, animaging timing of an infrared image, and an irradiation intensity ofinfrared rays for the camera module 101 and the image acquisition unit120 in accordance with the received message (Step S250).

Next, the imaging control unit 250 determines whether the imaging timinghas been reached (Step S255). If the imaging timing has been reached,the light emitter 102 of the camera module 101 emits infrared rays inthe set irradiation wavelength bands (Step S260), and the imagingelement array 103 captures an original image (Step S270). Here, theoptical filter 104 of the camera module 101 can filter infrared raysthat are incident on the imaging element array 103 so that only infraredrays with the set target wavelengths are caused to pass.

Next, the image acquisition unit 120 acquires an infrared image with theset target wavelength through preliminary processing, such asamplification of image signals, demosaicing, noise removal, andseparation of wavelength components, as needed (Step S280). Then, theimage acquisition unit 120 outputs the acquired infrared image to theapplication unit 130 (Step S290). Thereafter, the flow returns to StepS200, and the aforementioned processing is repeated.

(2-1) Processing on Server Side-First Example

FIG. 12A is a flowchart showing a first example of a flow of the imagingcontrol processing on the side of the server according to the secondembodiment.

The imaging control processing shown in FIG. 12A is started by using areception of the setting request message from the imaging controlapparatus 200 by the management server 310 as a trigger (Step S300). Thecontrol unit 330 of the management server 310 selects existingapparatuses with which image capturing competition with the apparatusthat has issued the request is to be avoided as targets of thecompetition avoidance in response to the reception of the settingrequest message (Step S310).

Next, the control unit 330 determines whether or not there is a settingthat has not been used by the selected existing apparatuses and that canbe used by the apparatus that has issued the request with reference tothe management DB 320 (Step S320). If there is an unused setting thatcan be selected, the control unit 330 assigns the setting to theapparatus that has issued the request (Step S330). If there is no unusedsetting that can be selected, the control unit 330 assigns theprescribed setting to the apparatus that has issued the request (StepS335).

Then, the control unit 330 transmits a response message including acontrol parameter for specifying the setting to the apparatus that hasissued the request in order to provide a notification of the settingassigned to the apparatus that has issued the request (Step S360).

(2-2) Processing on Server Side-Second Example

FIG. 12B is a flowchart showing a second example of a flow of theimaging control processing on the side of the server according to thesecond embodiment.

The imaging control processing shown in FIG. 12B is also started byusing a reception of a setting request message from the imaging controlapparatus 200 by the management server 310 as a trigger (Step S300). Thecontrol unit 330 of the management server 310 selects existingapparatuses with which image capturing competition with an apparatusthat has issued the request is to be avoided as targets of competitionavoidance in response to the setting request message (Step S310).

Next, the control unit 330 determines a setting priority for each of theapparatus that has issued the request and the existing apparatusesselected in Step S310 on the basis of information on setting candidatesthat can be selected, a current setting, a position, and a speed (on thebasis of criteria such as a degree of freedom in setting and a settingchange risk) (Step S330).

Then, the control unit 330 selects an apparatus with the highest settingpriority from among apparatuses for which a setting has not been fixed(Step S335). Then, the control unit 330 assigns one of unused settingsto the selected apparatus (Step S340). The control unit 330 repeats suchsetting assignment in the order from the apparatus with the highestsetting priority until a setting is assigned to all of the apparatuses(Step S345).

Then, the control unit 330 transmits a response message or a settingupdating message that includes a control parameter for specifying anindividual setting in order to provide a notification of the individualassigned setting to the apparatus that has issued the request and anapparatuses for which the setting is to be updated (Step S370).

3-5. Application Examples

The system configuration in which the management server is interposed asillustrated in FIG. 10 may be utilized to assist imaging controlperformed mainly by apparatuses (rather than a server) as described inthe first embodiment. For example, the management server 310 may managecurrent positions and speeds of individual apparatuses and execute aselection of neighboring apparatuses (Step S115) in the imaging controlprocessing described above with reference to FIG. 8 instead of theimaging control apparatus 100. The management server 310 may provide mapinformation (for example, information indicating locations with highaccident occurrence rates) that can be utilized for evaluating a settingchange risk for each apparatus to the imaging control apparatus 100. Theconfiguration is not limited to these examples, and an arbitrary part ofthe processing described in relation to the first embodiment may beexecuted by the management server 310 instead of the imaging controlapparatus 100.

4. CONCLUSION

The various embodiments of the technology according to the presentdisclosure have been described in detail with reference to FIGS. 1, 2,3, 4, 5A, 5B, 6A, 6B, 6C, 6D, 7, 8, 9A, 9B, 9C, 10, 11, 12A, and 12B.According to the aforementioned embodiments, a setting for generation ofan infrared image is controlled on the basis of a control parametertransmitted to another apparatus or received from another apparatus viaa communication interface in an apparatus that acquires an infraredimage generated by an infrared camera imaging reflected light of emittedinfrared rays. Therefore, it is possible to dynamically adjust thesetting in relation to image capturing used by each of apparatuses thatare positioned near each other through an information exchange such thatimage capturing competition is avoided. In this manner, it is possibleto avoid degradation of image quality of the individual infrared imagesdue to light emitted from other cameras as a disturbance in a scene inwhich a large number of infrared cameras capture images.

According to the example in which the setting in relation to imagecapturing is adjusted so that irradiation wavelength bands of infraredrays and target wavelengths of infrared images are different amongapparatuses, it is possible to significantly avoid image capturingcompetition by a large number of apparatuses in comparison to anexisting method by which a degree of separation among only two to threeapparatuses can be achieved. For example, it is assumed that a firstapparatus acquires an infrared image by using a first wavelength thatbelongs to a first irradiation wavelength band as a target wavelength,and that a second apparatus (a neighboring apparatus of the firstapparatus) acquires an infrared image by using a second wavelength thatbelongs to a second irradiation wavelength band as a target wavelength.The first apparatus selects the first wavelength so that an influence oflight emitted from the second apparatus in the second irradiationwavelength band on the infrared image is reduced. For example, theinfrared image generated by using the first wavelength which is thetarget wavelength is not influenced by the light emitted from the secondapparatus by selecting the first wavelength to not be included in thesecond irradiation wavelength band. Also, the first apparatus selectsthe first irradiation wavelength band so that an influence of the lightfrom the first apparatus in the first irradiation wavelength band on theinfrared image generated by the second apparatus is reduced. Forexample, the infrared image generated by using the second wavelengthwhich is the target wavelength is not influenced by the light emittedfrom the first apparatus by selecting the first irradiation wavelengthso as not to include the second wavelength.

Even in an example in which the setting in relation to image capturingis adjusted so that imaging timing of infrared images is different amongapparatuses, a higher degree of separation than that of the existingmethod can be achieved. If, for example, the first apparatus generatesthe infrared image by imaging the reflected light of the infrared raysat a first imaging timing, the first imaging timing is selected so thatthe first imaging timing does not interfere a second imaging timingselected by the second apparatus (a neighboring apparatus of the firstapparatus). In such a case, since an emission of infrared rays from oneapparatus and imaging by the other apparatus are not performed at thesame time, it is possible for both the apparatuses to acquireappropriate infrared images.

Further, according to the aforementioned embodiments, an apparatus towhich a relatively high setting priority is given transmits a controlparameter via a communication interface to cause neighboring apparatuseswith lower setting priorities to use a setting that is at leastpartially different from a setting used by the apparatus itself. Theapparatuses to which the relatively lower setting priority is givenselects a setting that is at least partially different from the settingspecified by the control parameter received from the neighboringapparatus for generation of the infrared image. It is possible to avoida situation in which a plurality of apparatuses disorderly useoverlapped settings by determining a setting to be used by eachapparatus in such an order of priority.

According to an example, a setting priority is determined on the basisof degrees of freedom in setting for individual apparatuses. Forexample, it is possible to reduce the possibility that apparatuses withwhich competition cannot be avoided are left by selecting a setting forapparatuses with lower degrees of freedom in setting (apparatuses forwhich selection can be made from less types of setting) with priority.According to another example, a setting priority is determined on thebasis of a setting change risks depending on moving speeds or positionsof the individual apparatuses. For the purpose of in-vehicleapparatuses, for example, it is possible to prevent an increase in risksof accidents caused by temporal turbulence in infrared images byselecting a setting for apparatuses with higher setting change riskswith priority.

Further, according to the aforementioned embodiments, a group ofneighboring apparatuses with which competition is to be avoided isselected on the basis of relative positional relationships with one ormore neighboring apparatuses detected via a communication interface, anda setting for generation of infrared images is controlled such that a atleast partially different setting is used among the neighboringapparatuses in the selected group. Therefore, it is possible to performadjustment for avoiding competition not necessarily among all of theapparatuses but among fewer apparatuses that are present at positions atwhich the apparatuses have influences on each other in a scene in whicha large number of apparatuses capture images. Accordingly, it ispossible to effectively avoid image capturing competition whilesuppressing communication overhead and processing for avoiding thecompetition to an appropriate level.

Further, according to a certain embodiment, a management server thatmanages a setting for generation of infrared images by a plurality ofapparatuses is introduced, and each of the apparatuses selects a settingspecified by control parameters received from the management server forthe generation of the infrared image. Therefore, each of the apparatusescan put processing required for, for example, avoiding competition, suchas a selection of a neighboring apparatuses and determination of apriority to the management server. Also, since the management server canadjust the setting in relation to image capturing for two or moreapparatuses that cannot directly communicate with each other, it ispossible to enhance reliability of competition avoidance in comparisonto a system formed with no management server.

Note that the series of control processes carried out by each apparatusdescribed in the present specification may be realized by software,hardware, or a combination of software and hardware. Programs thatcompose such software may be stored in advance for example on a storagemedium (non-transitory medium) provided inside or outside each of theapparatus. As one example, during execution by a computer, such programsare written into RAM (Random Access Memory) and executed by a processorsuch as a CPU.

Note that it is not necessary for the processing described in thisspecification with reference to the flowchart to be executed in theorder shown in the flowchart. Some processing steps may be performed inparallel. Further, some of additional steps can be adopted, or someprocessing steps can be omitted.

The preferred embodiment(s) of the present disclosure has/have beendescribed above with reference to the accompanying drawings, whilst thepresent disclosure is not limited to the above examples. A personskilled in the art may find various alterations and modifications withinthe scope of the appended claims, and it should be understood that theywill naturally come under the technical scope of the present disclosure.

Further, the effects described in this specification are merelyillustrative or exemplified effects, and are not limitative. That is,with or in the place of the above effects, the technology according tothe present disclosure may achieve other effects that are clear to thoseskilled in the art from the description of this specification.

Additionally, the present technology may also be configured as below.

(1)

An imaging control apparatus including:

an image acquisition unit that acquires an infrared image generated byan infrared camera imaging reflected light of emitted infrared rays; and

a control unit that controls a setting for the generation of theinfrared image on the basis of a control parameter transmitted toanother apparatus or received from another apparatus via a communicationinterface.

(2)

The imaging control apparatus according to (1),

in which the setting controlled by the control unit includes one or moreof an irradiation wavelength band of the infrared rays, a targetwavelength of the infrared image, and an imaging timing of the infraredimage.

(3)

The imaging control apparatus according to (2),

in which the image acquisition unit acquires the infrared imagegenerated using a first wavelength that belongs to a first irradiationwavelength band as the target wavelength, and

the control unit selects the first wavelength on the basis of thecontrol parameter so that an influence of a second irradiationwavelength band selected by a neighboring apparatus on the infraredimage acquired by the image acquisition unit is reduced.

(4)

The imaging control apparatus according to (3), in which the neighboringapparatus generates an infrared image using a second wavelength thatbelongs to the second irradiation wavelength band as a targetwavelength, and

the control unit selects the first irradiation wavelength band on thebasis of the control parameter so that an influence of the firstirradiation wavelength band on the infrared image generated by theneighboring apparatus is reduced.

(5)

The imaging control apparatus according to (2),

in which the infrared image is generated by imaging the reflected lightat a first imaging timing, and

the control unit selects the first imaging timing on the basis of thecontrol parameter so that the first imaging timing does not interferewith a second imaging timing selected by a neighboring apparatus.

(6)

The imaging control apparatus according to (2),

in which the control parameter specifies a first setting for theinfrared image acquired by the image acquisition unit, and

the control unit transmits the control parameter via the communicationinterface in order to cause a neighboring apparatus with a lower settingpriority to use a second setting that is at least partially differentfrom the first setting.

(7)

The imaging control apparatus according to (2),

in which the control parameter specifies a second setting for aninfrared image generated by a neighboring apparatus with a highersetting priority, and

the control unit selects, for generation of the infrared image acquiredby the image acquisition unit, a first setting that is at leastpartially different from the second setting specified by the controlparameter received via the communication interface.

(8)

The imaging control apparatus according to (6) or (7),

in which the setting priority is determined on the basis of a degree offreedom in setting for individual apparatuses.

(9)

The imaging control apparatus according to any one of (6) to (8),

in which the setting priority is determined on the basis of a settingchange risk that depends on a moving speed or a position of individualapparatuses.

(10)

The imaging control apparatus according to any one of (1) to (9),

in which the control unit

-   -   detects one or more neighboring apparatuses via the        communication interface,    -   selects at least one neighboring apparatus with which        competition is to be avoided on the basis of a relative        positional relationship between the infrared camera and the        detected one or more neighboring apparatuses, and    -   controls a setting for the generation of the infrared image so        that the setting that is at least partially different from a        setting for the at least one selected neighboring apparatus is        used.

(11)

The imaging control apparatus according to (1) or (2),

in which the communication interface communicates with a managementserver that manages settings for generation of infrared images by aplurality of apparatuses, and

the control unit selects, for generation of the infrared image acquiredby the image acquisition unit, a setting that is specified by a controlparameter received from the management server via the communicationinterface.

(12)

The imaging control apparatus according to (11),

in which the control unit transmits setting candidate informationindicating one or more setting candidates that are selectable for thegeneration of the infrared image to the management server via thecommunication interface, and

the control parameter specifies a setting included in the one or moresetting candidates indicated by the setting candidate information.

(13)

The imaging control apparatus according to (1),

in which the infrared image is generated by imaging the reflected lightof the infrared ray emitted with a first irradiation intensity, and

the control unit selects the first irradiation intensity on the basis ofthe control parameter so that an influence of irradiation with theinfrared ray with the first irradiation intensity on an infrared imagegenerated by a neighboring apparatus is reduced.

(14)

The imaging control apparatus according to (1),

in which the infrared image is generated by imaging the reflected lightof the infrared ray in a first polarization direction, and

the control unit selects the first polarization direction on the basisof the control parameter so that the first polarization direction doesnot overlap with a second polarization direction selected by aneighboring apparatus.

(15)

The imaging control apparatus according to any one of (1) to (14),further including:

the infrared camera that includes a light emitter that emits theinfrared rays and an imaging element array that images the reflectedlight.

(16)

An imaging control method including:

acquiring an infrared image that is generated by an infrared cameraimaging reflected light of emitted infrared rays; and

controlling a setting for the generation of the infrared image on thebasis of a control parameter transmitted to another apparatus orreceived from another apparatus via a communication interface.

(17)

A program that causes a computer to function as:

an image acquisition unit that acquires an infrared image generated byan infrared camera imaging reflected light of emitted infrared rays; and

a control unit that controls a setting for the generation of theinfrared image on the basis of a control parameter transmitted toanother apparatus or received from another apparatus via a communicationinterface.

REFERENCE SIGNS LIST

-   1 imaging control system-   100, 200 imaging control apparatus-   101 camera module (infrared camera)-   120 image acquisition unit-   130 application unit-   140 setting DB-   150, 250 imaging control unit-   310 management server

1. An imaging control apparatus comprising: an image acquisition unitthat acquires an infrared image generated by an infrared camera imagingreflected light of emitted infrared rays; and a control unit thatcontrols a setting for the generation of the infrared image on the basisof a control parameter transmitted to another apparatus or received fromanother apparatus via a communication interface.
 2. The imaging controlapparatus according to claim 1, wherein the setting controlled by thecontrol unit includes one or more of an irradiation wavelength band ofthe infrared rays, a target wavelength of the infrared image, and animaging timing of the infrared image.
 3. The imaging control apparatusaccording to claim 2, wherein the image acquisition unit acquires theinfrared image generated using a first wavelength that belongs to afirst irradiation wavelength band as the target wavelength, and thecontrol unit selects the first wavelength on the basis of the controlparameter so that an influence of a second irradiation wavelength bandselected by a neighboring apparatus on the infrared image acquired bythe image acquisition unit is reduced.
 4. The imaging control apparatusaccording to claim 3, wherein the neighboring apparatus generates aninfrared image using a second wavelength that belongs to the secondirradiation wavelength band as a target wavelength, and the control unitselects the first irradiation wavelength band on the basis of thecontrol parameter so that an influence of the first irradiationwavelength band on the infrared image generated by the neighboringapparatus is reduced.
 5. The imaging control apparatus according toclaim 2, wherein the infrared image is generated by imaging thereflected light at a first imaging timing, and the control unit selectsthe first imaging timing on the basis of the control parameter so thatthe first imaging timing does not interfere with a second imaging timingselected by a neighboring apparatus.
 6. The imaging control apparatusaccording to claim 2, wherein the control parameter specifies a firstsetting for the infrared image acquired by the image acquisition unit,and the control unit transmits the control parameter via thecommunication interface in order to cause a neighboring apparatus with alower setting priority to use a second setting that is at leastpartially different from the first setting.
 7. The imaging controlapparatus according to claim 2, wherein the control parameter specifiesa second setting for an infrared image generated by a neighboringapparatus with a higher setting priority, and the control unit selects,for generation of the infrared image acquired by the image acquisitionunit, a first setting that is at least partially different from thesecond setting specified by the control parameter received via thecommunication interface.
 8. The imaging control apparatus according toclaim 6, wherein the setting priority is determined on the basis of adegree of freedom in setting for individual apparatuses.
 9. The imagingcontrol apparatus according to claim 6, wherein the setting priority isdetermined on the basis of a setting change risk that depends on amoving speed or a position of individual apparatuses.
 10. The imagingcontrol apparatus according to claim 1, wherein the control unit detectsone or more neighboring apparatuses via the communication interface,selects at least one neighboring apparatus with which competition is tobe avoided on the basis of a relative positional relationship betweenthe infrared camera and the detected one or more neighboringapparatuses, and controls a setting for the generation of the infraredimage so that the setting that is at least partially different from asetting for the at least one selected neighboring apparatus is used. 11.The imaging control apparatus according to claim 1, wherein thecommunication interface communicates with a management server thatmanages settings for generation of infrared images by a plurality ofapparatuses, and the control unit selects, for generation of theinfrared image acquired by the image acquisition unit, a setting that isspecified by a control parameter received from the management server viathe communication interface.
 12. The imaging control apparatus accordingto claim 11, wherein the control unit transmits setting candidateinformation indicating one or more setting candidates that areselectable for the generation of the infrared image to the managementserver via the communication interface, and the control parameterspecifies a setting included in the one or more setting candidatesindicated by the setting candidate information.
 13. The imaging controlapparatus according to claim 1, wherein the infrared image is generatedby imaging the reflected light of the infrared ray emitted with a firstirradiation intensity, and the control unit selects the firstirradiation intensity on the basis of the control parameter so that aninfluence of irradiation with the infrared ray with the firstirradiation intensity on an infrared image generated by a neighboringapparatus is reduced.
 14. The imaging control apparatus according toclaim 1, wherein the infrared image is generated by imaging thereflected light of the infrared ray in a first polarization direction,and the control unit selects the first polarization direction on thebasis of the control parameter so that the first polarization directiondoes not overlap with a second polarization direction selected by aneighboring apparatus.
 15. The imaging control apparatus according toclaim 1, further comprising: the infrared camera that includes a lightemitter that emits the infrared rays and an imaging element array thatimages the reflected light.
 16. An imaging control method comprising:acquiring an infrared image that is generated by an infrared cameraimaging reflected light of emitted infrared rays; and controlling asetting for the generation of the infrared image on the basis of acontrol parameter transmitted to another apparatus or received fromanother apparatus via a communication interface.
 17. A program thatcauses a computer to function as: an image acquisition unit thatacquires an infrared image generated by an infrared camera imagingreflected light of emitted infrared rays; and a control unit thatcontrols a setting for the generation of the infrared image on the basisof a control parameter transmitted to another apparatus or received fromanother apparatus via a communication interface.